moveit_studio::behaviors::SetupMTCGenerateCuboidGrasps Class Reference

Given an existing MTC Task object and a target object, appends MTC stages to generate cuboid grasp poses. More...

#include <setup_mtc_generate_cuboid_grasps.hpp>

Inheritance diagram for moveit_studio::behaviors::SetupMTCGenerateCuboidGrasps:

Collaboration diagram for moveit_studio::behaviors::SetupMTCGenerateCuboidGrasps:

Public Member Functions
	SetupMTCGenerateCuboidGrasps (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
BT::NodeStatus	tick () override
Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::SyncActionNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.

Static Public Member Functions
static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Static Public Attributes
static constexpr auto	kStageNameGeneratePose = "generate pose"
static constexpr auto	kStageNamePoseIK = "pose IK"

Additional Inherited Members
Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::SyncActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Given an existing MTC Task object and a target object, appends MTC stages to generate cuboid grasp poses.

The monitored_stage input provides the name of the MTC stage containing the initial (pre-aproach) planning scene, which can be used by the grasp generation stage(s) in this Behavior.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit::task_constructor::Task>
target_object	Input	moveit_studio_vision_msgs::msg::GraspableObject
monitored_stage	Input	std::string
parameters	Input	YAML::Node

Constructor & Destructor Documentation

SetupMTCGenerateCuboidGrasps()

moveit_studio::behaviors::SetupMTCGenerateCuboidGrasps::SetupMTCGenerateCuboidGrasps	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources
	)

Member Function Documentation

metadata()

BT::KeyValueVector moveit_studio::behaviors::SetupMTCGenerateCuboidGrasps::metadata ( )

static

providedPorts()

BT::PortsList moveit_studio::behaviors::SetupMTCGenerateCuboidGrasps::providedPorts ( )

static

tick()

BT::NodeStatus moveit_studio::behaviors::SetupMTCGenerateCuboidGrasps::tick ( )

override

Member Data Documentation

kStageNameGeneratePose

constexpr auto moveit_studio::behaviors::SetupMTCGenerateCuboidGrasps::kStageNameGeneratePose = "generate pose"

staticconstexpr

kStageNamePoseIK

constexpr auto moveit_studio::behaviors::SetupMTCGenerateCuboidGrasps::kStageNamePoseIK = "pose IK"

staticconstexpr

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The documentation for this class was generated from the following files:

• setup_mtc_generate_cuboid_grasps.hpp
• setup_mtc_generate_cuboid_grasps.cpp